function xstCOMFn = stCOMFn(x)
xstCOMFn = (606150*cos(x(1) + x(2)) - 9657960*cos(x(1) + x(2) + x(3)) +  ...
  606150*cos(x(1) + x(2) + x(3) - x(4)) - 41834171195*sin(x(1)) -  ...
  25096253337*sin(x(1) + x(2)) - 401207755*sin(x(1) + x(2) + x(3)) +  ...
  6820902539*sin(x(1) + x(2) + x(3) - x(4)) +  ...
  701338095*sin(x(1) + x(2) + x(3) - x(4) - x(5)))/ ...
 (41834171195*cos(x(1)) + 25096253337*cos(x(1) + x(2)) +  ...
  401207755*cos(x(1) + x(2) + x(3)) -  ...
  6820902539*cos(x(1) + x(2) + x(3) - x(4)) -  ...
  701338095*cos(x(1) + x(2) + x(3) - x(4) - x(5)) + 606150*sin(x(1) + x(2)) -  ...
  9657960*sin(x(1) + x(2) + x(3)) + 606150*sin(x(1) + x(2) + x(3) - x(4))) ...
;